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Study on UAV Positioning Algorithms Based on Image Tracking

Author: WangFengJuan
Tutor: ZhuRongMing
School: Xi'an University of Electronic Science and Technology
Course: Control Theory and Control Engineering
Keywords: Image Tracking UAV Single point positioning
CLC: TP391.41
Type: Master's thesis
Year: 2009
Downloads: 523
Quote: 8
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Abstract


Image navigation analysis and processing of images acquired by airborne sensors to obtain the parameters of a navigation and positioning technology . Information-rich , low-cost , fully autonomous navigation technology at home and abroad has become a research focus and other advantages of the image navigation . Understand a variety of commonly used navigation method based on the status quo of research on the field of UAV image navigation algorithm principle and characteristics of in-depth analysis . The most mature research information of the point multiple landmark point of the same name by a real-time image , and then solved according to the principles of photogrammetry aircraft position parameters and attitude parameters . This method requires that the navigation computer is capable of storing a large number of matching map , and the number of real-time image of the same name on point in more than three and three . To solve the above problem , this paper presents a point positioning algorithm based on image tracking . If we use a laser range finder measured the distance between the UAV and ground punctuation , precision UAV real-time positioning parameters can be calculated by using the active positioning algorithm . Laser rangefinder easily exposed , vulnerable to interference and other shortcomings . Given rangefinder limitations and a a passive single point positioning algorithm . The algorithm first tracking ground punctuation , then take advantage of the real-time image point coordinates , the optical axis of the platform angle , UAV attitude angle information , based on the space geometric relationship solution calculated UAV positioning parameters . Combination of active and passive single-point positioning method , widening the scope of the UAV image navigation . Point positioning algorithm for image-based tracking algorithm derivation , the simulation results show the effectiveness of the algorithm . Finally, the single point positioning algorithm proposed in this paper strapdown inertial navigation system together constitute the integrated navigation system , mainly derived suitable for the system of centralized Kalman filter state equation and measurement equation .

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CLC: > Industrial Technology > Automation technology,computer technology > Computing technology,computer technology > Computer applications > Information processing (information processing) > Pattern Recognition and devices > Image recognition device
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